The idea was to build self-balancing robot which will communicate to MPU6050 gyroscope and
accelerometer with Atmega32 microcontroller which values are then sent to PD controller
whose output is sent to actuators. Main goal is to construct the robot and to write program code
in C programming language. It is necessary to communicate with MPU6050 and filter the values
with complementary filter. Furthermore it is needed to design PD controller and adjust the
parametars to get desired dynamic behavior. Printed circuit board with L293D chips was needed
for the actuators and to write a programing code forcontrol of the motors. Every goal that was
defined in the beginning wasachieved and we have a stable and functional self-balancing robot.